Robotic surgery system including position sensors using fiber Bragg gratings
First Claim
1. A method comprising:
- determining a shape of a surgical instrument based on a reflectance spectrum from a first optical fiber sensor contained within an optical fiber, the first optical fiber sensor and the optical fiber being in the surgical instrument; and
passing illuminating light through the optical fiber and beyond a distal end of the optical fiber, the illuminating light being sufficient to illuminate a site at which the surgical instrument is used.
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Accused Products
Abstract
A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
230 Citations
9 Claims
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1. A method comprising:
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determining a shape of a surgical instrument based on a reflectance spectrum from a first optical fiber sensor contained within an optical fiber, the first optical fiber sensor and the optical fiber being in the surgical instrument; and passing illuminating light through the optical fiber and beyond a distal end of the optical fiber, the illuminating light being sufficient to illuminate a site at which the surgical instrument is used. - View Dependent Claims (2, 3, 5, 6, 7)
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4. The method of 2, wherein the determining a temperature further comprises:
looking up a temperature in a pre-calculated look-up table corresponding to a detected signal from the second optical fiber sensor in the optical fiber.
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8. A method comprising:
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interrogating an optical fiber sensor contained within an optical fiber positioned in a surgical instrument to determine a shape of the surgical instrument, a temperature of the surgical instrument, or an axial force on the surgical instrument; and passing illuminating light through the optical fiber and beyond a distal end of the optical fiber, the illuminating light being sufficient to illuminate a site at which the surgical instrument is used.
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9. An apparatus comprising:
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a surgical instrument; an optical fiber positioned in an axial direction along the surgical instrument, wherein the optical fiber comprises an optical fiber sensor contained within the optical fiber; an interrogator configured to interrogate the optical fiber sensor to determine a shape of the surgical instrument, a temperature of the surgical instrument, or an axial force on the surgical instrument; and an illuminator configured to pass illuminating light into a proximal end of the optical fiber, through the optical fiber, and beyond a distal end of the optical fiber, the illuminating light being sufficient to illuminate a site at which the surgical instrument is used.
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Specification